We would like to point out that our method embeds both regression (similar to softargmin in existing methods [1]}, [2]}, [3]}) and classification (similar to argmin), which makes it robust to multi-modal distributions, and achieving sub-pixel precision due to linear interpolation. Combining both classification and regression has been seen in [4]}, but ours do not use the argmax operator when achieving the “classification” purpose, thanks to our proposal of estimates of index fields, which differentiably bridges the cost volume indexing and depth hypotheses sampling directly in a sub-pixel precision.
